Ultrasonic vibrating actuator

ABSTRACT

An ultrasonic vibrating unit comprising a piezoelectric vibrator, at least a pair of electrodes D and G, electrode terminals T D  and T G , a vibrating plate, and at least one bar. The piezoelectric vibrator has two end surfaces running perpendicular to the thickness direction thereof. The pair of electrodes D and G are formed on the two end surfaces, respectively. The electrode terminals T D  and T G  are formed on the electrodes D and G, respectively. The vibrating plate is connected to the piezoelectric vibrator. The bar is fixed to the vibrating plate such that one tip of the bar is in contact with one end surface of the vibrating plate or penetrates from one end surface to the other end surface thereof. When an electric signal with a frequency substantially equal to one of the resonance frequencies of the piezoelectric vibrator is applied to the piezoelectric vibrator through the electrode terminals T D  and T G , the piezoelectric vibrator is vibrated acoustically. The acoustic vibration is transmitted to the vibrating plate through the first surface portion of the vibrating plate. The bar receives the acoustic vibration from the vibrating plate. A large vibration displacement is caused on the surface of the bar. An ultrasonic vibrating actuator is made of the ultrasonic vibrating unit and at least a moving element which is in contact with the surface of the bar. When operating the ultrasonic vibrating actuator, the moving element can be made to move by the vibration displacement caused on side surface of the bar.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an ultrasonic vibrating unit and an ultrasonic vibrating actuator using an ultrasonic vibrating unit as an electromechanical conversion means.

2. Description of the Prior Art

Conventional ultrasonic motors include a mode rotation-type device, a standing wave-type device, which is based upon the standing wave, and a multi resonance-type device. These conventional ultrasonic motors have a moving element and a vibrator, the moving element receiving the acoustic vibration generated with the vibrator and moving along a single direction. These conventional ultrasonic motors are complex in both mechanical and circuit structure with respect to the driving circuit for the vibrator. These conventional ultrasonic motors have the disadvantage of transmitting weak or no acoustic vibration to the moving element when the distance between the moving element and the vibrator is long. In addition, it is difficult to miniaturize and to improve the power consumption efficiency of these techniques.

SUMMARY OF THE INVENTION

An object of the present invention is to provide an ultrasonic vibrating unit and an ultrasonic vibrating actuator capable of stable output characteristics over a long time.

Another object of the present invention is to provide an ultrasonic vibrating unit and an ultrasonic vibrating actuator capable of causing a large vibration displacement under low voltage operation with low power consumption.

A still other object of the present invention is to provide an ultrasonic vibrating unit and an ultrasonic vibrating actuator capable of controlling the magnitude and the direction of the vibration displacement.

A still further object of the present invention is to provide an ultrasonic vibrating unit and an ultrasonic vibrating actuator having a small size with a simple structure.

According to one aspect of the present invention there is provided an ultrasonic vibrating unit comprising:

a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of the piezoelectric vibrator;

a pair of electrodes D and G, formed on the two end surfaces, respectively;

electrode terminals T_(D) and T_(G), formed on the electrodes D and G, respectively;

a vibrating plate connected to the electrode D or G; and

at least one bar fixed to the vibrating plate such that one tip of the bar is in contact with one end surface of the vibrating plate or penetrates from one end surface to the other end surface thereof.

The piezoelectric vibrator, the vibrating plate and the bar form a vibrating assembly. The electrode terminals T_(D) and T_(G) receive an electric signal with a frequency approximately equal to a resonance frequency of the piezoelectric vibrator and cause the piezoelectric vibrator to vibrate acoustically. The acoustic vibration is transmitted from the piezoelectric vibrator to the vibrating plate. The bar receives the acoustic vibration from the vibrating plate. A large vibration displacement is caused on the surface of the bar.

According to another aspect of the present invention there is provided an ultrasonic vibrating unit comprising:

a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of the piezoelectric vibrator;

at least two electrodes D and F, formed on one end surface of the piezoelectric vibrator with electrically separated condition each other;

at least one electrode G formed on the other end surface of the piezoelectric vibrator;

electrode terminals T_(D), T_(F) and T_(G), formed on the electrodes D, F and G, respectively;

a vibrating plate connected to the electrode G; and

at least one bar fixed to the vibrating plate such that one tip of the bar is in contact with one end surface of the vibrating plate or penetrates from one end surface to the other end surface thereof.

The piezoelectric vibrator, the vibrating plate and the bar forming a vibrating assembly. The electrode terminals T_(D) and T_(G) receive an electric signal with a frequency approximately equal to a resonance frequency of the piezoelectric vibrator and cause the piezoelectric vibrator to vibrate acoustically. The acoustic vibration is not only transmitted from the piezoelectric vibrator to the vibrating plate, but also transduced, between the electrode terminals T_(F) and T_(G), to an electric signal, with a frequency approximately equal to a resonance frequency of the vibrating assembly. The bar receives the acoustic vibration transmitted from the piezoelectric vibrator to the vibrating plate. A large vibration displacement is caused on the surface of the bar. The electrode terminals T_(F) and T_(G) deliver the electric signal transduced from the acoustic vibration.

According to another aspect of the present invention there is provided an ultrasonic vibrating unit, wherein the electrode D has about three to four times as large area on the one end surface of the piezoelectric vibrator as the electrode F.

According to another aspect of the present invention there is provided an ultrasonic vibrating unit, wherein the electrodes D and F form an interdigital transducer P. When operating the ultrasonic vibrating unit, the best self-oscillation is realized in case that the electrode D has about two times as large area on the one end surface of the piezoelectric vibrator as the electrode F.

According to another aspect of the present invention there is provided a piezoelectric vibrator having a rectangular plate-shaped body, the ratio of length to width thereof being substantially equal to 1.

According to another aspect of the present invention there is provided a piezoelectric vibrator having a rectangular pillar-shaped body, the ratio of length to width, length to thickness, or width to thickness thereof being substantially equal to 1.

According to another aspect of the present invention there is provided a bar having a tubular or non-tubular structure, and having a branched or non-branched structure.

According to another aspect of the present invention there is provided a self-oscillator circuit containing

a coil L₁ connected between a direct current power supply V_(dc) and the electrode terminal T_(D), and

a transistor T_(r1), output terminal thereof being connected to the electrode terminal T_(D) and input terminal thereof being connected to the electrode terminal T_(F). In the self-oscillator circuit, the piezoelectric vibrator acts as a resonance element and the transistor T_(r1) acts as a feedback amplifier element.

According to another aspect of the present invention there is provided a self-oscillator circuit consisting of

a current sensing circuit for detecting the phase of a current in the piezoelectric vibrator, the current sensing circuit containing two diodes D₁ and D₂, the diode D₁ being connected in series to the piezoelectric vibrator, the diode D₂ being connected in parallel to the diode D₁,

a voltage amplifying circuit for amplifying a low voltage signal detected in the current sensing circuit, and

a power amplifying circuit containing a transistor T_(r1) and a coil L₁ for supplying the piezoelectric vibrator with an electric power. In the self-oscillator circuit, the piezoelectric vibrator acts as a resonance element and the transistor T_(r1) acts as a feedback amplifier element.

According to another aspect of the present invention there is provided an ultrasonic vibrating actuator comprising the ultrasonic vibrating unit having the two electrodes D and G formed on the two end surfaces of the piezoelectric vibrator, respectively, and at least one moving element being in contact with the surface of the bar. The moving element is made to move by the vibration displacement caused on the surface of the bar.

According to another aspect of the present invention there is provided an ultrasonic vibrating actuator comprising the ultrasonic vibrating unit having the two electrodes D and F formed on one end surface of the piezoelectric vibrator and the electrode G formed on the other end surface of the piezoelectric vibrator, and at least one moving element being in contact with the surface of the bar. The moving element is made to move by the vibration displacement caused on the surface of the bar.

According to other aspect of the present invention there is provided a moving element being in contact with one tip of the bar. The moving element is rotated on the tip of the bar round the rotation axis parallel to the longitudinal direction of the bar.

According to a further aspect of the present invention there is provided a moving element being in contact with side of the bar. The moving element is moved or pendulated along the longitudinal direction of the bar.

BRIEF DESCRIPTION OF THE DRAWINGS

Other features and advantages of the invention will be clarified from the following description with reference to the attached drawings.

FIG. 1 shows a sectional view of the ultrasonic vibrating unit according to a first embodiment of the present invention.

FIG. 2 shows a perspective view of the ultrasonic vibrating unit shown in FIG. 1.

FIG. 3 shows a side view of an embodiment of the ultrasonic vibrating actuator according to the present invention.

FIG. 4 shows the pendulum 5 used instead of the rotor 4.

FIG. 5 shows the dish 6 used instead of the rotor 4.

FIG. 6 shows a perspective view of the bar 7 used instead of the bar 3.

FIG. 7 shows a perspective view of the bar 8 used instead of the bar 3.

FIG. 8 shows a perspective view of the ultrasonic vibrating unit according to a second embodiment of the present invention.

FIG. 9 shows a diagram of the self-oscillator circuit 9.

FIG. 10 shows a diagram of the self-oscillator circuit 10 used instead of the self-oscillator circuit 9.

FIG. 11 shows a side view of another embodiment of the ultrasonic vibrating actuator according to the present invention, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit shown in FIG. 8.

FIG. 12 (A) shows the frequency dependence of the amplitude of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11. FIG. 12 (B) shows the frequency dependence of the phase of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11.

FIG. 13 (A) shows the frequency dependence of the amplitude of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11. FIG. 13 (B) shows the frequency dependence of the phase of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11.

FIG. 14 (A) shows the frequency dependence of the amplitude of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11. FIG. 14 (B) shows the frequency dependence of the phase of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11.

FIG. 15 (A) shows the frequency dependence of the amplitude of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11. FIG. 15 (B) shows the frequency dependence of the phase of the admittance between the electrodes D and G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11.

FIG. 16 shows the admittance circles of the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11.

FIG. 17 shows the relationship between the power consumption and the area ratio of the electrode D on the one end surface of the piezoelectric vibrator 1 to the electrode F, shown in FIG. 11.

FIG. 18 shows the relationship between the revolution per minute (R.P.M) of the rotor 4 and the area ratio of the electrode D on the one end surface of the piezoelectric vibrator 1 to the electrode F, shown in FIG. 11.

FIG. 19 shows a perspective view of the ultrasonic vibrating unit according to a third embodiment of the present invention.

FIG. 20 shows a side view of another embodiment of the ultrasonic vibrating actuator according to the present invention, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit shown in FIG. 19.

FIG. 21 shows the admittance circles of the vibrating assembly shown in FIG. 20.

FIG. 22 shows a perspective view of the ultrasonic vibrating unit according to a fourth embodiment of the present invention.

FIG. 23 shows a perspective view of the ultrasonic vibrating unit according to a fifth embodiment of the present invention.

FIG. 24 shows a perspective view of the ultrasonic vibrating unit according to a sixth embodiment of the present invention.

FIG. 25 shows a fragmentary upper plan view of the ultrasonic vibrating unit shown in FIG. 24.

FIG. 26 shows the relationship between the area ratio of the part P_(D) on the one end surface of the piezoelectric vibrator 1 to the part P_(F), and the admittance peak, between the part P_(D) and the electrode G, at a frequency approximately equal to a resonance frequency of the piezoelectric vibrator 1, shown in FIG. 24.

FIG. 27 shows the relationship between the frequency and the phase of the admittance between the part P_(D) and the electrode G in the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 24.

FIG. 28 shows a perspective view of the ultrasonic vibrating unit according to a seventh embodiment of the present invention.

DETAILED DESCRIPTION OF THE PRESENTLY PREFERRED EXEMPLARY EMBODIMENTS

FIG. 1 shows a sectional view of an ultrasonic vibrating unit according to a first embodiment of the present invention. The ultrasonic vibrating unit comprises a piezoelectric vibrator 1, a vibrating plate 2, a bar 3, a pair of electrodes D and G made from aluminium thin film, and electrode terminals T_(D) and T_(G), made from copper ribbon and cemented on the electrodes D and G, respectively, by an adhesive agent which is of high conductivity. Also shown is a power supply circuit supplying the piezoelectric vibrator 1 with an alternating current voltage.

FIG. 2 shows a perspective view of the ultrasonic vibrating unit shown in FIG. 1. The power supply circuit is not drawn in FIG. 2. Piezoelectric vibrator 1 has a rectangular plate-shaped body made of a TDK-72A piezoelectric ceramic (TDK Company) providing a high electromechanical coupling constant, and having dimensions of 17 mm in length, 20 mm in width and 1 mm in thickness. The piezoelectric vibrator 1 has two end surfaces running perpendicular to the thickness direction thereof. The direction of the polarization axis of the piezoelectric vibrator 1 is parallel to the thickness direction thereof. The electrodes D and G are formed on the two end surfaces, respectively. Each electrode terminal T_(D) or T_(G), is mounted at one edge along the width direction of the piezoelectric vibrator 1. The vibrating plate 2 made of stainless steel has a first surface portion and a second surface portion on one end surface thereof, the first surface portion being cemented to the piezoelectric vibrator 1 with an electroconductive epoxy resin (Dotite, Fujikura Chemical) and in contact with the electrode G, the second surface portion being not cemented to the piezoelectric vibrator 1. The dimensions of the vibrating plate 2 are 20 mm in length, 20 mm in width and 0.05 mm in thickness. The dimensions of the first surface portion of the vibrating plate 2 are 2 mm in length and 20 mm in width. Thus, the dimensions of the second surface portion of the vibrating plate 2 are 18 mm in length and 20 mm in width. The bar 3 made of brass has a tube-type structure with dimensions of 0.6 mm in diameter of outer edge, 0.4 mm in diameter of inner edge and 10 cm in length, and is cemented to the vibrating plate 2 at a position such that one tip of the bar 3 penetrates the vibrating plate 2.

When an electric signal with a frequency substantially equal to one of the resonance frequencies of the piezoelectric vibrator 1 is applied to the piezoelectric vibrator 1 through the electrode terminals T_(D) and T_(G), the piezoelectric vibrator 1 is vibrated mechanically. The acoustic vibration is transmitted to the vibrating plate 2 through the first surface portion of the vibrating plate 2. The bar 3 receives the acoustic vibration from the vibrating plate 2. A large vibration displacement is caused on the surface of the bar 3. The piezoelectric vibrator 1, the vibrating plate 2 and the bar 3 form a vibrating assembly.

The ultrasonic vibrating unit shown in FIG. 1 has the piezoelectric vibrator 1 with a rectangular plate-shaped body, the ratio of length to width thereof being substantially equal to 1. Therefore, a coupled-mode vibration of the vibrating assembly is strengthened. Thus, the acoustic vibration can be transmitted to all the bar 3 over. In addition, the first surface portion of the vibrating plate 2 is cemented and integrally interlocked with one end surface of the piezoelectric vibrator 1. Accordingly, the acoustic vibration can be transmitted to all the bar 3 fixed to be interlocked with the vibrating plate 2 effectively.

FIG. 3 shows a side view of an embodiment of an ultrasonic vibrating actuator according to the present invention. The ultrasonic vibrating actuator contains the ultrasonic vibrating unit shown in FIG. 1 and a rotor 4, which is in contact with side surface of the bar 3 and pressed against the side surface thereof in the longitudinal direction thereof.

FIG. 4 shows a pendulum 5 used instead of the rotor 4. The pendulum 5 is in contact with the side surface of the bar 3 and balanced on the side surface thereof, then when the bar 3 is located such that the longitudinal direction thereof is along the horizontal direction.

FIG. 5 shows a dish 6 used instead of the rotor 4. The dish 6 is in contact with the top surface of the bar 3.

When operating the ultrasonic vibrating actuator of FIG. 3, the rotor 4 is rotated by a vibration displacement caused on the side surface of the bar 3. The pendulum 5 is pendulated along the longitudinal direction of the bar 3 by the vibration displacement caused on the side surface of the bar 3. The dish 6 is rotated on the top surface of the bar 3 by a vibration displacement caused on the top surface of the bar 3. In this time, it is possible to move the rotor 4, the pendulum 5 and the dish 6 in the same time with various speed, and use even a bar, of which the length is approximately 1 m, and a bar, of which one tip is in contact with one end surface of the vibrating plate 2, instead of the bar 3. In addition, it is possible to convert the rotatory direction of the rotor 4 by changing the touch position of the rotor 4 to the bar 3, and the rotatory direction of the dish 6 by changing the length of the bar 3. Therefore, it is possible to control the magnitude and the direction of the vibration displacement.

FIG. 6 shows a perspective view of a bar 7 used instead of the bar 3. The bar 7 having a coiled tube structure can move the rotor 4, the pendulum 5 or the dish 6 in the same way as the bar 3. When the bar 7 is used instead of the bar 3 in the ultrasonic vibrating actuator shown in FIG. 3, the rotor 4 and the pendulum 5 are moved even on side surface near the top of the bar 7, respectively, and the dish 6 is moved even on the top surface of the bar 7. Thus, various types of moving elements, such as the rotor 4, the pendulum 5 and the dish 6, can be driven by a bar, whether which is straight or not, and is tubular or not.

FIG. 7 shows a perspective view of a bar 8 used instead of the bar 3. The bar 8 with a branched structure, of which sectional view is rectangular, can move the rotor 4, the pendulum 5 or the dish 6 in the same way as the bar 3. When the bar 8 is used instead of the bar 3 in the ultrasonic vibrating actuator shown in FIG. 3, the rotor 4 and the pendulum 5 are moved even on the side surface near each top of the bar 8, respectively, and the dish 6 is moved even on each top surface of the bar 8. Thus, various types of moving elements can be driven by a bar, whether which has branches or not, and whether of which sectional view is rectangular, circular or another shaped. Various types of bars, such as the bar 3, the bar 7 and the bar 8, can be covered with films, made of polymer and so on, and causing a friction between each bar and each moving element. A low power consumption can be realized by use of the friction between each bar and each moving element.

FIG. 8 shows a perspective view of an ultrasonic vibrating unit according to a second embodiment of the present invention. The ultrasonic vibrating unit comprises the piezoelectric vibrator 1, the vibrating plate 2, the bar 3, a self-oscillator circuit 9, electrodes D and F, formed on one end surface of the piezoelectric vibrator i with electrically separated condition each other, an electrode G formed on the other end surface of the piezoelectric vibrator 1, electrode terminals T_(D), T_(F) and T_(G), formed on the electrodes D, F and G, respectively. The self-oscillator circuit 9 is not drawn in FIG. 8. The electrodes D, F and G, are made from aluminium thin film. The electrode terminals T_(D), T_(F) and T_(G), are made from copper ribbon and cemented on the electrodes D, F and G, respectively, by an adhesive agent which is of high conductivity. The electrode D has about four times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F. The piezoelectric vibrator 1, the vibrating plate 2 and the bar 3 form a vibrating assembly.

FIG. 9 shows a diagram of the self-oscillator circuit 9. The self-oscillator circuit 9 contains a coil L₁ connected between a direct current power supply V_(dc) and the electrode terminal T_(D), and a transistor T_(r1), an output terminal thereof being connected to the electrode terminal T_(D) and an input terminal thereof being connected to the electrode terminal T_(F). When an electric signal with a frequency substantially equal to one of the resonance frequencies of the piezoelectric vibrator 1 is applied to the piezoelectric vibrator 1 through the electrode terminals T_(D) and T_(G), the piezoelectric vibrator 1 is vibrated mechanically. The acoustic vibration is not only transmitted from the piezoelectric vibrator 1 to the vibrating plate 2 through the first surface portion of the vibrating plate 2, but also transduced, between the electrode terminals T_(F) and T_(G), to an electric signal, with a frequency approximately equal to a resonance frequency of the vibrating assembly. The bar 3 receives the acoustic vibration transmitted from the piezoelectric vibrator 1 to the vibrating plate 2. A large vibration displacement is caused on the surface of the bar 3. The voltage between the electrode terminals T_(F) and T_(G), that arises from the piezoelectricity of the piezoelectric vibrator 1 as a resonance element, is feedback via the transistor T_(r1) operating as a feedback amplifier element. The electric signals at the electrode terminals T_(D) and T_(F) are 180° out of phase. The voltage across the coil L₁ is applied to the electrode terminals T_(D) and T_(G). In this way, a positive feedback loop with the best self-oscillation is constructed. The self oscillator circuit 9 has been confirmed to work for continuous and stable acoustic vibration of the piezoelectric vibrator 1 without special compensation, for considerably large resonance frequency deviation of the piezoelectric vibrator 1 in the temperature range below 80° C. Moreover, it is possible to construct the self-oscillator circuit 9 with few parts such as the coil L₁, the transistor T_(r1), resistances R₁ and R₂, and a diode D₁, and use the direct current power supply V_(dc), causing a high power consumption efficiency, though such few parts. Thus, it is possible to miniaturize the power supply. Therefore, the ultrasonic vibrating unit has a small size with a simple structure. When operating the ultrasonic vibrating unit shown in FIG. 8, the best self-oscillation is realized in case that the electrode D has about three to four times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

FIG. 10 shows a diagram of a self-oscillator circuit 10 used instead of the self-oscillator circuit 9. The self oscillator circuit 10 comprises a current sensing circuit 11, a voltage amplifying circuit 12 and a power amplifying circuit 13. The self oscillator circuit 10 has been confirmed to work for continuous and stable acoustic vibration of the piezoelectric vibrator 1 without special compensation, for considerably large resonance frequency deviation of the piezoelectric vibrator 1 in the temperature range below 80° C. The current sensing circuit 11 contains a diode D₁ connected in series to the electrode terminals T_(F) and T_(G), and a diode D₂ connected in parallel to the diode D₁ with the opposite polarity to the diode D₁, the current sensing circuit 11 detecting a phase of a current between the electrode terminals T_(F) and T_(G). Thus, an electric signal, in which a phase between the current and the voltage is zero and having a frequency corresponding to a frequency substantially equal to one of the resonance frequencies of the vibrating assembly, is delivered from the electrode terminals T_(F) and T_(G) toward the current sensing circuit 11. In proportion as an impedance of the current sensing circuit 11 is larger, the voltage provided to the piezoelectric vibrator 1 becomes lower. Therefore, the current sensing circuit 11 is favourable to have a smaller impedance. However, if the impedance is too small, the detected voltage becomes low. Accordingly, the rise time for self-oscillation becomes late. Generally, a diode acts as a high-resistance when self-oscillation begins and then the voltage is low, and as a low-resistance when self-oscillation is stabilized and then the voltage is high, considering the relationship between the current and the voltage in the diode. Accordingly, the diodes D₁ and D₂ are favorable as elements in the current sensing circuit 11. The voltage amplifying circuit 12 contains an inverter IC₁, condensers C₁ and C₂ for cutting the direct current component, a Zener diode ZD₁, and resistances R₁, R₂ and R₃. The voltage amplifying circuit 12 is intended for amplifying a weak voltage signal detected in the current sensing circuit 11 and driving the next circuit, that is the power amplifying circuit 13. For the purpose of obtaining enough high-frequency power to drive the piezoelectric vibrator 1 when a power amplifying means is composed of a transistor and so on, a voltage amplifying circuit with an amplifier is necessary for obtaining a large gain at high speed. In FIG. 10, the inverter IC₁ composed of CMOS logic IC is used. When feedbacking the inverter IC₁ via the resistance R₁, the voltage amplifying circuit 12 does not work around the threshold. Thus, the voltage amplifying circuit 12 acts as an analog amplifier. Though the voltage amplifying circuit 12 has a large gain at high speed, there is a voltage limit in the power supply. Therefore, the inverter IC₁ is supplied with a fixed voltage by using the Zener diode ZD₁. The power amplifying circuit 13 contains a transistor T_(r1), a coil L₁, a condenser C₃ and a resistance R₄, an output power of the power amplifying circuit 13 being applied through the electrode terminals T_(D) and T_(G). The transistor T_(r1) is for switching, and uses a power MOSFET in consideration of a switching speed and a simplicity of driving. The coil L₁ is used for supplying the piezoelectric vibrator 1 with a power having a voltage higher than the power supply voltage by generating an electromotive force. The condenser C₃ is for regulating the time constant of electromotive force. When enhancing the condenser C₃, the time constant becomes larger and the maximum voltage is lower. When reducing the condenser C₃, the time constant is smaller and the maximum voltage is higher.

When operating the ultrasonic vibrating unit shown in FIG. 8 with the self-oscillator circuit 10, for example, 50 V_(p--p) is obtained as the driving voltage of the piezoelectric vibrator 1, if the power supply voltage is 12 V. At this time, an alternating current voltage of approximately 1 V_(p--p) is taken out at the electrode terminals T_(F) and T_(G). Thus, the piezoelectric vibrator 1 can be driven with a voltage approximately four times larger than the power supply voltage. In the self-oscillator circuit 10 the transistor T_(r1) and the coil L₁ for switching are used in order to make it possible to drive at a low voltage. When enhancing a voltage by using a combination of a transistor and a coil or by a transducer to the same degree, a combination of a transistor and a coil has a smaller size which is very light in weight and is cheaper than a transducer. In addition, since the load circuit of the power amplifying circuit 13 contains the coil L₁ and the condenser C₃ without a resistor, the energy conversion efficiency increases.

FIG. 11 shows a side view of another embodiment of an ultrasonic vibrating actuator according to the present invention, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit shown in FIG. 8. The ultrasonic vibrating actuator containing the rotor 4, the pendulum 5 or the dish 6, which can be made to move in the same way as in FIG. 3, is operated under a lower voltage with lower power consumption than in FIG. 3. Besides, the ultrasonic vibrating actuator has stable output characteristics over a long time.

FIG. 12 shows the frequency dependencies of the amplitude and the phase of the admittance between the electrodes D and G in the vibrating assembly (continuous line) or the piezoelectric vibrator 1 alone (dotted line), shown in FIG. 11. FIG. 12 is provided that the dimension of the second surface portion of the vibrating plate 2 is 18 mm in length and that the electrode D has the same area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

FIG. 13 shows the frequency dependencies of the amplitude and the phase of the admittance between the electrodes D and G in the vibrating assembly (continuous line) or the piezoelectric vibrator 1 alone (dotted line), shown in FIG. 11. FIG. 13 is provided that the dimension of the second surface portion of the vibrating plate 2 is 18 mm in length and that the electrode D has three times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

FIG. 14 shows the frequency dependencies of the amplitude and the phase of the admittance between the electrodes D and G in the vibrating assembly (continuous line) or the piezoelectric vibrator 1 alone (dotted line), shown in FIG. 11. FIG. 14 is provided that the dimension of the second surface portion of the vibrating plate 2 is 18 mm in length and that electrode D has four times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

FIG. 15 shows the frequency dependencies of the amplitude and the phase of the admittance between the electrodes D and G in the vibrating assembly (continuous line) or the piezoelectric vibrator 1 alone (dotted line), shown in FIG. 11. FIG. 15 is provided that the dimension of the second surface portion of the vibrating plate 2 is 18 mm in length and that the electrode D has five times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

It is clear from FIGS. 12, 13, 14 and 15 that the amplitude of the admittance has the maximum value when the electrode D has four times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

FIG. 16 shows the admittance circles of the vibrating assembly or the piezoelectric vibrator 1 alone, shown in FIG. 11. FIG. 16 is provided that the dimension of the second surface portion of the vibrating plate 2 is 8 mm or 24.5 mm in length and that the electrode D has four times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F. "0 mm" shown in FIG. 16 corresponds to the piezoelectric vibrator 1 alone. The admittance circle is the largest as well as the best-shaped when the dimension of the second surface portion of the vibrating plate 2 is 18 mm in length.

FIG. 17 shows the relationship between the power consumption and the area ratio of the electrode D on the one end surface of the piezoelectric vibrator 1 to the electrode F, shown in FIG. 11. FIG. 17 is provided that the voltage of direct current power supply V_(dc) is 9 V. When the electrode D has four times as large area as the electrode F, the power consumption has the minimum value of 0.58 W. In this time, an alternating current voltage of 69 V_(p--p), which is the maximum value, is applied to the electrode terminals T_(D) and T_(G). This means that a high alternating current voltage applied to the electrode terminals T_(D) and T_(G) is obtained even if a direct current power supply voltage is low.

FIG. 18 shows the relationship between the revolution per minute (R.P.M) of the rotor 4 and the area ratio of the electrode D on the one end surface of the piezoelectric vibrator 1 to the electrode F, shown in FIG. 11. The R.P.M has the maximum value, when the electrode D has three times as large area as the electrode F. However, considering power consumption efficiency in FIG. 17, it is clear that the ultrasonic vibrating actuator shown in FIG. 11 is operated under the minimum value of the power consumption with the minimum value of direct current power supply voltage, when the electrode D has four times as large area as the electrode F. Therefore, the maximum revolution efficiency is obtained when the electrode D has four times as large area as the electrode F.

FIG. 19 shows a perspective view of an ultrasonic vibrating unit according to a third embodiment of the present invention. The ultrasonic vibrating unit comprises a piezoelectric vibrator 14, a vibrating plate 15, the bar 3, the self-oscillator circuit 9, electrodes D and F, formed on one end surface of the piezoelectric vibrator 14 with electrically separated condition each other, an electrode G formed on the other end surface of the piezoelectric vibrator 14, electrode terminals T_(D), T_(F) and T_(G), formed on the electrodes D, F and G, respectively. The self-oscillator circuit 9 is not drawn in FIG. 19.

The piezoelectric vibrator 14 has a rectangular pillar-shaped body made of TDK-72A piezoelectric ceramic (TDK Company) providing a high electromechanical coupling constant, and having dimensions of 10 mm in length, 5 mm in width and 6 mm in thickness. The direction of the polarization axis of the piezoelectric vibrator 14 is parallel to the thickness direction thereof. The electrodes D, F and G, are made from aluminium thin film. The electrode terminals T_(D), T_(F) and T_(G), are made from copper ribbon and cemented on the electrodes D, F and G, respectively, by an adhesive agent which is of high conductivity. The electrode D has about four times as large area on the one end surface of the piezoelectric vibrator 14 as the electrode F. The vibrating plate 15 made of stainless steel has a first surface portion and a second surface portion on one end surface thereof, the first surface portion being cemented to the piezoelectric vibrator 14 with an electroconductive epoxy resin (Dotite, Fujikura Chemical) and in contact with the electrode G, the second surface portion being not cemented to the piezoelectric vibrator 14. The dimensions of the vibrating plate 15 are 11 mm in length, 5 mm in width and 0.04 mm in thickness. The dimensions of the first surface portion of the vibrating plate 15 are 1.5 mm in length and 5 mm in width. Thus, the dimensions of the second surface portion of the vibrating plate 15 are 9.5 mm in length and 5 mm in width.

The ultrasonic vibrating unit shown in FIG. 19 is operated as the ultrasonic vibrating unit shown in FIG. 8. When operating the ultrasonic vibrating unit shown in FIG. 19, the best self-oscillation is realized in case that the electrode D has about three to four times as large area on the one end surface of the piezoelectric vibrator 14 as the electrode F. The piezoelectric vibrator 14, the vibrating plate 15 and the bar 3 form a vibrating assembly. The ultrasonic vibrating unit shown in FIG. 19 has the piezoelectric vibrator 14 with a rectangular pillar-shaped body, the ratio of width to thickness thereof being substantially equal to 1. Therefore, a coupled-mode vibration of the vibrating assembly is strengthened. Thus, the acoustic vibration can be transmitted to all the bar 3 over. If the ratio of length to width, or length to thickness of a piezoelectric vibrator with a rectangular pillar-shaped body is substantially equal to 1, a coupled-mode vibration of a vibrating assembly constituted of the piezoelectric vibrator, the vibrating plate 15 and the bar 3 is strengthened. Thus, the acoustic vibration can be transmitted to all the bar 3 over. In addition, the first surface portion of the vibrating plate 15 is cemented and integrally interlocked with one end surface of the piezoelectric vibrator 14. Accordingly, the acoustic vibration can be transmitted to all the bar 3 fixed to be interlocked with the vibrating plate 15 effectively.

FIG. 20 shows a side view of another embodiment of an ultrasonic vibrating actuator according to the present invention, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit shown in FIG. 19. The ultrasonic vibrating actuator containing the rotor 4, the pendulum 5 or the dish 6, which can be made to move in the same way as in FIG. 3, is operated under a lower voltage with lower power consumption than in FIG. 3. Besides, the ultrasonic vibrating actuator has stable output characteristics over a long time.

FIG. 21 shows the admittance circles of the vibrating assembly shown in FIG. 20. FIG. 21 is provided that the electrode D has one, one and half, three or four times as large area on the one end surface of the piezoelectric vibrator 14 as the electrode F. The admittance circle is the largest as well as the best-shaped when the electrode D has three, next, four times as large area as the electrode F. Therefore, it is possible to operate the vibrating assembly shown in FIG. 20 effectively when the electrode D has three to four times as large area as the electrode F.

FIG. 22 shows a perspective view of an ultrasonic vibrating unit according to a fourth embodiment of the present invention. The ultrasonic vibrating unit shown in FIG. 22 is the same as the ultrasonic vibrating unit shown in FIG. 8, except that a linear area between the electrodes D and F on the one end surface of the piezoelectric vibrator 1 is located parallel to the length direction of the piezoelectric vibrator 1. When operating the ultrasonic vibrating unit shown in FIG. 22, the best self-oscillation is realized in case that the electrode D has about three to four times as large area on the one end surface of the piezoelectric vibrator 1 as the electrode F.

FIG. 23 shows a perspective view of an ultrasonic vibrating unit according to a fifth embodiment of the present invention. The ultrasonic vibrating unit shown in FIG. 23 is the same as the ultrasonic vibrating unit shown in FIG. 19, except that a linear area between the electrodes D and F on the one end surface of the piezoelectric vibrator 14 is located parallel to the length direction of the piezoelectric vibrator 14. When operating the ultrasonic vibrating unit shown in FIG. 23, the best self-oscillation is realized in case that the electrode D has about three to four times as large area on the one end surface of the piezoelectric vibrator 14 as the electrode F.

FIG. 24 shows a perspective view of an ultrasonic vibrating unit according to a sixth embodiment of the present invention. The ultrasonic vibrating unit comprises the piezoelectric vibrator 1, the vibrating plate 2, the bar 3, the self-oscillator circuit 9, an interdigital transducer P formed on one end surface of the piezoelectric vibrator 1 and comprising two parts P_(D) and P_(F), an electrode G formed on the other end surface of the piezoelectric vibrator 1, electrode terminals T_(D) and T_(F) formed on the parts P_(D) and P_(F), respectively, and an electrode terminal T_(G) formed on the electrode G. The self-oscillator circuit 9 is not drawn in FIG. 24. The interdigital transducer P and the electrode G are made from aluminium thin film, respectively. The electrode terminals T_(D), T_(F) and T_(G), are made from copper ribbon and cemented on the parts P_(D), P_(F), and the electrode G, respectively, by an adhesive agent which is of high conductivity. The piezoelectric vibrator 1, the vibrating plate 2 and the bar 3 form a vibrating assembly.

FIG. 25 shows a fragmentary upper plan view of the ultrasonic vibrating unit shown in FIG. 24. The interdigital transducer P consisting of six finger pairs has an interdigital periodicity of 2 mm and an overlap length of 4.8 mm. The part P_(D) has about two times as large area on the one end surface of the piezoelectric vibrator 1 as the part P_(F).

The ultrasonic vibrating unit shown in FIG. 24 can be operated as the ultrasonic vibrating unit shown in FIG. 8. The interdigital transducer P is formed on one end surface of the piezoelectric vibrator 1, causing an effective operation with self-oscillation. The interdigital transducer P can make a piezoelectric vibrator to vibrate acoustically, whether a dimension in thickness of the piezoelectric vibrator is large or small. When operating the ultrasonic vibrating unit shown in FIG. 24, the best self-oscillation is realized in case that the part P_(D) has about two times as large area on the one end surface of the piezoelectric vibrator 1 as the part P_(F).

Another embodiment of an ultrasonic vibrating actuator according to the present invention is provided, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit, shown in FIG. 24, and the rotor 4. The pendulum 5 or the dish 6 is also available in the ultrasonic vibrating actuator. The rotor 4, the pendulum 5 or the dish 6, which can be made to move in the same way as in FIG. 3, is operated under a lower voltage with lower power consumption than in FIG. 3. Besides, the ultrasonic vibrating actuator has stable output characteristics over a long time.

FIG. 26 shows the relationship between the area ratio of the part P_(D) on the one end surface of the piezoelectric vibrator 1 to the part P_(F), and the admittance peak, between the part P_(D) and the electrode G, at a frequency approximately equal to a resonance frequency of the piezoelectric vibrator 1, shown in FIG. 24. The admittance peak has the maximum value, when the part P_(D) has approximately two times as large area as the part P_(F).

FIG. 27 shows the relationship between the frequency and the phase of the admittance between the part P_(D) and the electrode G in the vibrating assembly (continuous line) or the piezoelectric vibrator i alone (dotted line), shown in FIG. 24. FIG. 27 is provided that the part P_(D) has approximately two times as large area on the one end surface of the piezoelectric vibrator 1 as the part P_(F), and the vibrating assembly has two types of the vibrating plate 2, the dimension of the second surface portion of one type of the vibrating plate 2 being 22 mm in length (corresponding to the upper trace), the dimension of the second surface portion of the other type of the vibrating plate 2 being 17.9 mm in length (corresponding to the lower trace). It is clear that the resonance frequency of the vibrating assembly having the vibrating plate 2, of which the dimension of the second surface portion is 17.9 mm in length, is approximately coincident with that of the piezoelectric vibrator 1 alone. At this time, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit shown in FIG. 24 is operated effectively.

FIG. 28 shows a perspective view of an ultrasonic vibrating unit according to a seventh embodiment of the present invention. The ultrasonic vibrating unit comprises the piezoelectric vibrator 14, the vibrating plate 15, the bar 3, the self-oscillator circuit 9, an interdigital transducer P formed on one end surface of piezoelectric vibrator 14 and comprising two parts P_(D) and P_(F), an electrode G formed on the other end surface of the piezoelectric vibrator 14, electrode terminals T_(D) and T_(F) formed on the parts P_(D) and P_(F), respectively, and an electrode terminal T_(G) formed on the electrode G. The self-oscillator circuit 9 is not drawn in FIG. 28. The interdigital transducer P and the electrode G are made from aluminium thin film, respectively. The electrode terminals T_(D), T_(F) and T_(G), are made from copper ribbon and cemented on the parts P_(D) and P_(F), and the electrode G, respectively, by an adhesive agent which is of high conductivity.

The interdigital transducer P consisting of six finger pairs has an interdigital periodicity of 1 mm and an overlap length of 3.8 mm. The part P_(D) has about two times as large area on the one end surface of the piezoelectric vibrator 1 as the part P_(F). The piezoelectric vibrator 14, the vibrating plate 15 and the bar 3 form a vibrating assembly.

The ultrasonic vibrating unit shown in FIG. 28 can be operated as the ultrasonic vibrating unit shown in FIG. 8. The interdigital transducer P make a piezoelectric vibrator to vibrate acoustically, whether a dimension in thickness of the piezoelectric vibrator is large or small. Thus, the interdigital transducer P on one end surface of the piezoelectric vibrator 14 causes an effective operation with self-oscillation. When operating the ultrasonic vibrating unit shown in FIG. 28, the best self-oscillation is realized in case that the part P_(D) has about two times as large area on the one end surface of the piezoelectric vibrator 1 as the part P_(F).

Still another embodiment of an ultrasonic vibrating actuator according to the present invention is provided, the ultrasonic vibrating actuator containing the ultrasonic vibrating unit, shown in FIG. 28, and the rotor 4. The pendulum 5 or the dish 6 is also available in the ultrasonic vibrating actuator. The rotor 4, the pendulum 5 or the dish 6, which can be made to move in the same way as in FIG. 3, is operated under a lower voltage with lower power consumption than in FIG. 3. Besides, the ultrasonic vibrating actuator has stable output characteristics over a long time.

While this invention has been described in connection with what is presently considered to be the most practical and preferred embodiment, it is to be understood that the invention is not limited to the disclosed embodiment, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims. 

What is claimed is:
 1. An ultrasonic vibrating unit comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square plate-shaped body, the ratio of length to width thereof being substantially equal to 1; a pair of electrodes D and G, formed on said two end surfaces, respectively; electrode terminals T_(D) and T_(G), formed on said electrodes D and G, respectively; a vibrating plate connected to said electrode D or G; and at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator transmitting the acoustic vibration to said vibrating plate, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not.
 2. An ultrasonic vibrating unit comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square plate-shaped body, the ratio of length to width thereof being substantially equal to 1; at least two electrodes D and F, formed on one end surface of said piezoelectric vibrator with electrically separated condition each other; at least one electrode G formed on the other end surface of said piezoelectric vibrator; electrode terminals T_(D), T_(F) and T_(G), formed on said electrodes D, F and G, respectively; a vibrating plate connected to said electrode G; and at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator not only transmitting the acoustic vibration to said vibrating plate, but also transducing said acoustic vibration, between said electrode terminals T_(F) and T_(G), to an electric signal with a frequency approximately equal to a resonance frequency of said vibrating assembly, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not, said electrode terminals T_(F) and T_(G) delivering said electric signal transduced from said acoustic vibration.
 3. An ultrasonic vibrating unit as defined in claim 2, wherein said electrode D has about three to four times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 4. An ultrasonic vibrating unit as defined in claim 2 further comprising:a self-oscillator circuit containinga coil L₁ connected between a direct current power supply V_(dc) and said electrode terminal T_(D), and a transistor T_(r1), output terminal thereof being connected to said electrode terminal T_(D) and input terminal thereof being connected to said electrode terminal T_(F), said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 5. An ultrasonic vibrating unit as defined in claim 2 further comprising:a self-oscillator circuit consisting ofa current sensing circuit for detecting the phase of a current in said piezoelectric vibrator, said current sensing circuit containing two diodes D₁ and D₂, said diode D₁ being connected in series to said piezoelectric vibrator, said diode D₂ being connected in parallel to said diode D₁, a voltage amplifying circuit for amplifying a low voltage signal detected in said current sensing circuit, and a power amplifying circuit containing a transistor T_(r1) and a coil L₁ for supplying said piezoelectric vibrator with an electric power, said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 6. An ultrasonic vibrating unit as defined in claim 2, wherein said electrodes D and F form an interdigital transducer P.
 7. An ultrasonic vibrating unit as defined in claim 2, wherein said electrodes D and F form an interdigital transducer P, and said electrode D has about two times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 8. An ultrasonic vibrating actuator comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square plate-shaped body, the ratio of length to width thereof being substantially equal to 1; a pair of electrodes D and G, formed on said two end surfaces, respectively; electrode terminals T_(D) and T_(G), formed on said electrodes D and G, respectively; a vibrating plate connected to said electrode D or G; at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof; and at least one moving element being in contact with surface of said bar, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator transmitting the acoustic vibration to said vibrating plate, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not, said bar making to move said moving element by acoustic displacement.
 9. An ultrasonic vibrating actuator as defined in claim 8, wherein said moving element being in contact with one tip of said bar is rotated on said tip of said bar round the rotation axis parallel to the longitudinal direction of said bar.
 10. An ultrasonic vibrating actuator as defined in claim 8, wherein said moving element being in contact with side of said bar is moved or pendulated along the longitudinal direction of said bar.
 11. An ultrasonic vibrating actuator comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square plate-shaped body, the ratio of length to width thereof being substantially equal to 1; at least two electrodes D and F, formed on one end surface of said piezoelectric vibrator with electrically separated condition each other; at least one electrode G formed on the other end surface of said piezoelectric vibrator; electrode terminals T_(D), T_(F) and T_(G), formed on said electrodes D, F and G, respectively; a vibrating plate connected to said electrode G; at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof; and at least one moving element being in contact with surface of said bar, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator not only transmitting the acoustic vibration to said vibrating plate, but also transducing said acoustic vibration, between said electrode terminals T_(F) and T_(G), to an electric signal with a frequency approximately equal to a resonance frequency of said vibrating assembly, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not, said bar making to move said moving element by acoustic displacement, said electrode terminals T_(F) and T_(G) delivering said electric signal transduced from said acoustic vibration.
 12. An ultrasonic vibrating actuator as defined in claim 11, wherein said electrode D has about three to four times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 13. An ultrasonic vibrating actuator as defined in claim 11 further comprising:a self-oscillator circuit containinga coil L₁ connected between a direct current power supply V_(dc) and said electrode terminal T_(D), and a transistor T_(r1), output terminal thereof being connected to said electrode terminal T_(D) and input terminal thereof being connected to said electrode terminal T_(F), said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 14. An ultrasonic vibrating actuator as defined in claim 11 further comprising:a self-oscillator circuit consisting ofa current sensing circuit for detecting the phase of a current in said piezoelectric vibrator, said current sensing circuit containing two diodes D₁ and D₂, said diode D₁ being connected in series to said piezoelectric vibrator, said diode D₂ being connected in parallel to said diode D₁, a voltage amplifying circuit for amplifying a low voltage signal detected in said current sensing circuit, and a power amplifying circuit containing a transistor T_(r1) and a coil L₁ for supplying said piezoelectric vibrator with an electric power, said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 15. An ultrasonic vibrating actuator as defined in claim 11, wherein said moving element being in contact with one tip of said bar is rotated on said tip of said bar round the rotation axis parallel to the longitudinal direction of said bar.
 16. An ultrasonic vibrating actuator as defined in claim 11, wherein said moving element being in contact with side of said bar is moved or pendulated along the longitudinal direction of said bar.
 17. An ultrasonic vibrating actuator as defined in claim 11, wherein said electrodes D and F form an interdigital transducer P.
 18. An ultrasonic vibrating actuator as defined in claim 11, wherein said electrodes D and F form an interdigital transducer P, and said electrode D has about two times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 19. An ultrasonic vibrating unit comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square pillar-shaped body, the ratio of length to width, length to thickness, or width to thickness thereof being substantially equal to 1; a pair of electrodes D and G, formed on said two end surfaces, respectively; electrode terminals T_(D) and T_(G), formed on said electrodes D and G, respectively; a vibrating plate connected to said electrode D or G; and at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator transmitting the acoustic vibration to said vibrating plate, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not.
 20. An ultrasonic vibrating unit comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square pillar-shaped body, the ratio of length to width, length to thickness, or width to thickness thereof being substantially equal to 1; at least two electrodes D and F, formed on one end surface of said piezoelectric vibrator with electrically separated condition each other; at least one electrode G formed on the other end surface of said piezoelectric vibrator; electrode terminals T_(D), T_(F) and T_(G), formed on said electrodes D, F and G, respectively; a vibrating plate connected to said electrode G; and at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator not only transmitting the acoustic vibration to said vibrating plate, but also transducing said acoustic vibration, between said electrode terminals T_(F) and T_(G), to an electric signal with a frequency approximately equal to a resonance frequency of said vibrating assembly, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not, said electrode terminals T_(F) and T_(G) delivering said electric signal transduced from said acoustic vibration.
 21. An ultrasonic vibrating unit as defined in claim 20, wherein said electrode D has about three to four times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 22. An ultrasonic vibrating unit as defined in claim 20 further comprising:a self-oscillator circuit containinga coil L₁ connected between a direct current power supply V_(dc) and said electrode terminal T_(D), and a transistor T_(r1), output terminal thereof being connected to said electrode terminal T_(D) and input terminal thereof being connected to said electrode terminal T_(F), said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 23. An ultrasonic vibrating unit as defined in claim 20 further comprising:a self-oscillator circuit consisting ofa current sensing circuit for detecting the phase of a current in said piezoelectric vibrator, said current sensing circuit containing two diodes D₁ and D₂, said diode D₁ being connected in series to said piezoelectric vibrator, said diode D₂ being connected in parallel to said diode D₁, a voltage amplifying circuit for amplifying a low voltage signal detected in said current sensing circuit, and a power amplifying circuit containing a transistor T_(r1) and a coil L₁ for supplying said piezoelectric vibrator with an electric power, said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 24. An ultrasonic vibrating unit as defined in claim 20, wherein said electrodes D and F form an interdigital transducer P.
 25. An ultrasonic vibrating unit as defined in claim 20, wherein said electrodes D and F form an interdigital transducer P, and said electrode D has about two times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 26. An ultrasonic vibrating actuator comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square pillar-shaped body, the ratio of length to width, length to thickness, or width to thickness thereof being substantially equal to 1; a pair of electrodes D and G, formed on said two end surfaces, respectively; electrode terminals T_(D) and T_(G), formed on said electrodes D and G, respectively; a vibrating plate connected to said electrode D or G; at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof; and at least one moving element being in contact with surface of said bar, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator transmitting the acoustic vibration to said vibrating plate, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not, said bar making to move said moving element by acoustic displacement.
 27. An ultrasonic vibrating actuator as defined in claim 26, wherein said moving element being in contact with one tip of said bar is rotated on said tip of said bar round the rotation axis parallel to the longitudinal direction of said bar.
 28. An ultrasonic vibrating actuator as defined in claim 26, wherein said moving element being in contact with side of said bar is moved or pendulated along the longitudinal direction of said bar.
 29. An ultrasonic vibrating actuator comprising:a piezoelectric vibrator having two end surfaces running perpendicular to the thickness direction of said piezoelectric vibrator, said piezoelectric vibrator having a square pillar-shaped body, the ratio of length to width, length to thickness, or width to thickness thereof being substantially equal to 1; at least two electrodes D and F, formed on one end surface of said piezoelectric vibrator with electrically separated condition each other; at least one electrode G formed on the other end surface of said piezoelectric vibrator; electrode terminals T_(D), T_(F) and T_(G), formed on said electrodes D, F and G, respectively; a vibrating plate connected to said electrode G; at least one bar fixed to said vibrating plate such that one tip of said bar is in contact with one end surface of said vibrating plate or penetrates from one end surface to the other end surface thereof; and at least one moving element being in contact with surface of said bar, said piezoelectric vibrator, said vibrating plate and said bar forming a vibrating assembly, said electrode terminals T_(D) and T_(G) receiving an electric signal with a frequency approximately equal to a resonance frequency of said piezoelectric vibrator and causing said piezoelectric vibrator to vibrate acoustically, said piezoelectric vibrator not only transmitting the acoustic vibration to said vibrating plate, but also transducing said acoustic vibration, between said electrode terminals T_(F) and T_(G), to an electric signal with a frequency approximately equal to a resonance frequency of said vibrating assembly, said vibrating plate transmitting said acoustic vibration to said bar and causing an acoustic vibrating condition on the top surface and at the side surface of said bar not only whether said bar has a tubular structure or not, but also whether said bar has a branched structure or not, said bar making to move said moving element by acoustic displacement, said electrode terminals T_(F) and T_(G) delivering said electric signal transduced from said acoustic vibration.
 30. An ultrasonic vibrating actuator as defined in claim 29, wherein said electrode D has about three to four times as large area on said one end surface of said piezoelectric vibrator as said electrode F.
 31. An ultrasonic vibrating actuator as defined in claim 29 further comprising:a self-oscillator circuit containinga coil L₁ connected between a direct current power supply V_(dc) and said electrode terminal T_(D), and a transistor T_(r1), output terminal thereof being connected to said electrode terminal T_(D) and input terminal thereof being connected to said electrode terminal T_(F), said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 32. An ultrasonic vibrating actuator as defined in claim 29 further comprising:a self-oscillator circuit consisting ofa current sensing circuit for detecting the phase of a current in said piezoelectric vibrator, said current sensing circuit containing two diodes D₁ and D₂, said diode D₁ being connected in series to said piezoelectric vibrator, said diode D₂ being connected in parallel to said diode D₁, a voltage amplifying circuit for amplifying a low voltage signal detected in said current sensing circuit, and a power amplifying circuit containing a transistor T_(r1) and a coil L₁ for supplying said piezoelectric vibrator with an electric power, said piezoelectric vibrator acting as a resonance element and said transistor T_(r1) acting as a feedback amplifier element.
 33. An ultrasonic vibrating actuator as defined in claim 29, wherein said moving element being in contact with one tip of said bar is rotated on said tip of said bar round the rotation axis parallel to the longitudinal direction of said bar.
 34. An ultrasonic vibrating actuator as defined in claim 29, wherein said moving element being in contact with side of said bar is moved or pendulated along the longitudinal direction of said bar.
 35. An ultrasonic vibrating actuator as defined in claim 29, wherein said electrodes D and F form an interdigital transducer P.
 36. An ultrasonic vibrating actuator as defined in claim 29, wherein said electrodes D and F form an interdigital transducer P, and said electrode D has about two times as large area on said one end surface of said piezoelectric vibrator as said electrode F. 